575 lines
16 KiB
C++
575 lines
16 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* temperature.h - temperature controller
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*/
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#ifndef TEMPERATURE_H
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#define TEMPERATURE_H
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#include "thermistortables.h"
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#include "MarlinConfig.h"
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#if ENABLED(PID_EXTRUSION_SCALING)
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#include "stepper.h"
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#endif
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#ifndef SOFT_PWM_SCALE
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#define SOFT_PWM_SCALE 0
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#endif
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#define HOTEND_LOOP() for (int8_t e = 0; e < HOTENDS; e++)
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#if HOTENDS == 1
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#define HOTEND_INDEX 0
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#define EXTRUDER_IDX 0
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#else
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#define HOTEND_INDEX e
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#define EXTRUDER_IDX active_extruder
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#endif
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/**
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* States for ADC reading in the ISR
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*/
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enum ADCSensorState {
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#if HAS_TEMP_0
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PrepareTemp_0,
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MeasureTemp_0,
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#endif
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#if HAS_TEMP_1
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PrepareTemp_1,
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MeasureTemp_1,
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#endif
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#if HAS_TEMP_2
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PrepareTemp_2,
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MeasureTemp_2,
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#endif
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#if HAS_TEMP_3
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PrepareTemp_3,
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MeasureTemp_3,
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#endif
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#if HAS_TEMP_4
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PrepareTemp_4,
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MeasureTemp_4,
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#endif
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#if HAS_TEMP_BED
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PrepareTemp_BED,
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MeasureTemp_BED,
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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Prepare_FILWIDTH,
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Measure_FILWIDTH,
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#endif
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SensorsReady, // Temperatures ready. Delay the next round of readings to let ADC pins settle.
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StartupDelay // Startup, delay initial temp reading a tiny bit so the hardware can settle
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};
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// Minimum number of Temperature::ISR loops between sensor readings.
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// Multiplied by 16 (OVERSAMPLENR) to obtain the total time to
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// get all oversampled sensor readings
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#define MIN_ADC_ISR_LOOPS 10
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#define ACTUAL_ADC_SAMPLES max(int(MIN_ADC_ISR_LOOPS), int(SensorsReady))
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#if !HAS_HEATER_BED
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constexpr int16_t target_temperature_bed = 0;
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#endif
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class Temperature {
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public:
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static float current_temperature[HOTENDS],
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current_temperature_bed;
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static int16_t current_temperature_raw[HOTENDS],
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target_temperature[HOTENDS],
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current_temperature_bed_raw;
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#if HAS_HEATER_BED
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static int16_t target_temperature_bed;
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#endif
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static volatile bool in_temp_isr;
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#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
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static float redundant_temperature;
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#endif
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static uint8_t soft_pwm_amount[HOTENDS],
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soft_pwm_amount_bed;
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#if ENABLED(FAN_SOFT_PWM)
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static uint8_t soft_pwm_amount_fan[FAN_COUNT],
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soft_pwm_count_fan[FAN_COUNT];
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#endif
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#if ENABLED(PIDTEMP) || ENABLED(PIDTEMPBED)
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#define PID_dT ((OVERSAMPLENR * float(ACTUAL_ADC_SAMPLES)) / (F_CPU / 64.0 / 256.0))
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#endif
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#if ENABLED(PIDTEMP)
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#if ENABLED(PID_PARAMS_PER_HOTEND) && HOTENDS > 1
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static float Kp[HOTENDS], Ki[HOTENDS], Kd[HOTENDS];
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#if ENABLED(PID_EXTRUSION_SCALING)
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static float Kc[HOTENDS];
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#endif
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#define PID_PARAM(param, h) Temperature::param[h]
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#else
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static float Kp, Ki, Kd;
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#if ENABLED(PID_EXTRUSION_SCALING)
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static float Kc;
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#endif
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#define PID_PARAM(param, h) Temperature::param
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#endif // PID_PARAMS_PER_HOTEND
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// Apply the scale factors to the PID values
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#define scalePID_i(i) ( (i) * PID_dT )
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#define unscalePID_i(i) ( (i) / PID_dT )
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#define scalePID_d(d) ( (d) / PID_dT )
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#define unscalePID_d(d) ( (d) * PID_dT )
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#endif
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#if ENABLED(PIDTEMPBED)
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static float bedKp, bedKi, bedKd;
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#endif
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#if ENABLED(BABYSTEPPING)
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static volatile int babystepsTodo[3];
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#endif
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#if WATCH_HOTENDS
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static uint16_t watch_target_temp[HOTENDS];
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static millis_t watch_heater_next_ms[HOTENDS];
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#endif
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#if WATCH_THE_BED
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static uint16_t watch_target_bed_temp;
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static millis_t watch_bed_next_ms;
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#endif
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#if ENABLED(PREVENT_COLD_EXTRUSION)
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static bool allow_cold_extrude;
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static uint16_t extrude_min_temp;
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static bool tooColdToExtrude(uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return allow_cold_extrude ? false : degHotend(HOTEND_INDEX) < extrude_min_temp;
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}
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#else
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static bool tooColdToExtrude(uint8_t e) { UNUSED(e); return false; }
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#endif
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private:
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#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
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static uint16_t redundant_temperature_raw;
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static float redundant_temperature;
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#endif
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static volatile bool temp_meas_ready;
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#if ENABLED(PIDTEMP)
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static float temp_iState[HOTENDS],
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temp_dState[HOTENDS],
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pTerm[HOTENDS],
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iTerm[HOTENDS],
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dTerm[HOTENDS];
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#if ENABLED(PID_EXTRUSION_SCALING)
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static float cTerm[HOTENDS];
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static long last_e_position;
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static long lpq[LPQ_MAX_LEN];
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static int lpq_ptr;
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#endif
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static float pid_error[HOTENDS];
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static bool pid_reset[HOTENDS];
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#endif
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#if ENABLED(PIDTEMPBED)
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static float temp_iState_bed,
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temp_dState_bed,
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pTerm_bed,
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iTerm_bed,
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dTerm_bed,
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pid_error_bed;
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#else
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static millis_t next_bed_check_ms;
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#endif
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static uint16_t raw_temp_value[MAX_EXTRUDERS],
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raw_temp_bed_value;
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// Init min and max temp with extreme values to prevent false errors during startup
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static int16_t minttemp_raw[HOTENDS],
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maxttemp_raw[HOTENDS],
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minttemp[HOTENDS],
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maxttemp[HOTENDS];
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#ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
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static uint8_t consecutive_low_temperature_error[HOTENDS];
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#endif
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#ifdef MILLISECONDS_PREHEAT_TIME
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static millis_t preheat_end_time[HOTENDS];
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#endif
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#ifdef BED_MINTEMP
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static int16_t bed_minttemp_raw;
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#endif
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#ifdef BED_MAXTEMP
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static int16_t bed_maxttemp_raw;
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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static int16_t meas_shift_index; // Index of a delayed sample in buffer
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#endif
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#if HAS_AUTO_FAN
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static millis_t next_auto_fan_check_ms;
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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static int current_raw_filwidth; //Holds measured filament diameter - one extruder only
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#endif
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#if ENABLED(PROBING_HEATERS_OFF)
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static bool paused;
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#endif
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#if ENABLED(ADVANCED_PAUSE_FEATURE)
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static millis_t heater_idle_timeout_ms[HOTENDS];
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static bool heater_idle_timeout_exceeded[HOTENDS];
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#if HAS_TEMP_BED
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static millis_t bed_idle_timeout_ms;
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static bool bed_idle_timeout_exceeded;
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#endif
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#endif
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public:
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/**
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* Instance Methods
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*/
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Temperature();
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void init();
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/**
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* Static (class) methods
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*/
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static float analog2temp(int raw, uint8_t e);
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static float analog2tempBed(int raw);
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/**
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* Called from the Temperature ISR
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*/
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static void isr();
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/**
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* Call periodically to manage heaters
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*/
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static void manage_heater() _O2; // Added _O2 to work around a compiler error
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/**
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* Preheating hotends
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*/
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#ifdef MILLISECONDS_PREHEAT_TIME
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static bool is_preheating(uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return preheat_end_time[HOTEND_INDEX] && PENDING(millis(), preheat_end_time[HOTEND_INDEX]);
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}
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static void start_preheat_time(uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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preheat_end_time[HOTEND_INDEX] = millis() + MILLISECONDS_PREHEAT_TIME;
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}
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static void reset_preheat_time(uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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preheat_end_time[HOTEND_INDEX] = 0;
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}
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#else
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#define is_preheating(n) (false)
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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static float analog2widthFil(); // Convert raw Filament Width to millimeters
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static int widthFil_to_size_ratio(); // Convert raw Filament Width to an extrusion ratio
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#endif
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//high level conversion routines, for use outside of temperature.cpp
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//inline so that there is no performance decrease.
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//deg=degreeCelsius
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static float degHotend(uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return current_temperature[HOTEND_INDEX];
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}
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static float degBed() { return current_temperature_bed; }
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#if ENABLED(SHOW_TEMP_ADC_VALUES)
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static int16_t rawHotendTemp(uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return current_temperature_raw[HOTEND_INDEX];
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}
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static int16_t rawBedTemp() { return current_temperature_bed_raw; }
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#endif
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static int16_t degTargetHotend(uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return target_temperature[HOTEND_INDEX];
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}
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static int16_t degTargetBed() { return target_temperature_bed; }
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#if WATCH_HOTENDS
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static void start_watching_heater(uint8_t e = 0);
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#endif
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#if WATCH_THE_BED
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static void start_watching_bed();
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#endif
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static void setTargetHotend(const int16_t celsius, uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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#ifdef MILLISECONDS_PREHEAT_TIME
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if (celsius == 0)
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reset_preheat_time(HOTEND_INDEX);
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else if (target_temperature[HOTEND_INDEX] == 0)
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start_preheat_time(HOTEND_INDEX);
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#endif
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target_temperature[HOTEND_INDEX] = celsius;
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#if WATCH_HOTENDS
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start_watching_heater(HOTEND_INDEX);
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#endif
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}
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static void setTargetBed(const int16_t celsius) {
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#if HAS_HEATER_BED
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target_temperature_bed =
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#ifdef BED_MAXTEMP
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min(celsius, BED_MAXTEMP)
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#else
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celsius
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#endif
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;
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#if WATCH_THE_BED
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start_watching_bed();
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#endif
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#endif
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}
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static bool isHeatingHotend(uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return target_temperature[HOTEND_INDEX] > current_temperature[HOTEND_INDEX];
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}
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static bool isHeatingBed() { return target_temperature_bed > current_temperature_bed; }
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static bool isCoolingHotend(uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return target_temperature[HOTEND_INDEX] < current_temperature[HOTEND_INDEX];
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}
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static bool isCoolingBed() { return target_temperature_bed < current_temperature_bed; }
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/**
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* The software PWM power for a heater
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*/
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static int getHeaterPower(int heater);
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/**
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* Switch off all heaters, set all target temperatures to 0
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*/
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static void disable_all_heaters();
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/**
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* Perform auto-tuning for hotend or bed in response to M303
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*/
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#if HAS_PID_HEATING
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static void PID_autotune(float temp, int hotend, int ncycles, bool set_result=false);
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#endif
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/**
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* Update the temp manager when PID values change
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*/
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static void updatePID();
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#if ENABLED(BABYSTEPPING)
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static void babystep_axis(const AxisEnum axis, const int distance) {
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if (axis_known_position[axis]) {
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#if IS_CORE
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#if ENABLED(BABYSTEP_XY)
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switch (axis) {
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case CORE_AXIS_1: // X on CoreXY and CoreXZ, Y on CoreYZ
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babystepsTodo[CORE_AXIS_1] += distance * 2;
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babystepsTodo[CORE_AXIS_2] += distance * 2;
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break;
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case CORE_AXIS_2: // Y on CoreXY, Z on CoreXZ and CoreYZ
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babystepsTodo[CORE_AXIS_1] += CORESIGN(distance * 2);
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babystepsTodo[CORE_AXIS_2] -= CORESIGN(distance * 2);
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break;
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case NORMAL_AXIS: // Z on CoreXY, Y on CoreXZ, X on CoreYZ
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babystepsTodo[NORMAL_AXIS] += distance;
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break;
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}
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#elif CORE_IS_XZ || CORE_IS_YZ
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// Only Z stepping needs to be handled here
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babystepsTodo[CORE_AXIS_1] += CORESIGN(distance * 2);
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babystepsTodo[CORE_AXIS_2] -= CORESIGN(distance * 2);
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#else
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babystepsTodo[Z_AXIS] += distance;
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#endif
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#else
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babystepsTodo[axis] += distance;
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#endif
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}
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}
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#endif // BABYSTEPPING
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#if ENABLED(PROBING_HEATERS_OFF)
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static void pause(const bool p);
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static bool is_paused() { return paused; }
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#endif
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#if ENABLED(ADVANCED_PAUSE_FEATURE)
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static void start_heater_idle_timer(uint8_t e, millis_t timeout_ms) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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heater_idle_timeout_ms[HOTEND_INDEX] = millis() + timeout_ms;
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heater_idle_timeout_exceeded[HOTEND_INDEX] = false;
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}
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static void reset_heater_idle_timer(uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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heater_idle_timeout_ms[HOTEND_INDEX] = 0;
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heater_idle_timeout_exceeded[HOTEND_INDEX] = false;
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#if WATCH_HOTENDS
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start_watching_heater(HOTEND_INDEX);
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#endif
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}
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static bool is_heater_idle(uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return heater_idle_timeout_exceeded[HOTEND_INDEX];
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}
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#if HAS_TEMP_BED
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static void start_bed_idle_timer(millis_t timeout_ms) {
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bed_idle_timeout_ms = millis() + timeout_ms;
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bed_idle_timeout_exceeded = false;
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}
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static void reset_bed_idle_timer() {
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bed_idle_timeout_ms = 0;
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bed_idle_timeout_exceeded = false;
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#if WATCH_THE_BED
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start_watching_bed();
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#endif
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}
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static bool is_bed_idle() {
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return bed_idle_timeout_exceeded;
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}
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#endif
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#endif
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private:
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static void set_current_temp_raw();
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static void updateTemperaturesFromRawValues();
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#if ENABLED(HEATER_0_USES_MAX6675)
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static int read_max6675();
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#endif
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static void checkExtruderAutoFans();
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static float get_pid_output(int e);
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#if ENABLED(PIDTEMPBED)
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static float get_pid_output_bed();
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#endif
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static void _temp_error(int e, const char* serial_msg, const char* lcd_msg);
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static void min_temp_error(int8_t e);
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static void max_temp_error(int8_t e);
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#if ENABLED(THERMAL_PROTECTION_HOTENDS) || HAS_THERMALLY_PROTECTED_BED
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typedef enum TRState { TRInactive, TRFirstHeating, TRStable, TRRunaway } TRstate;
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static void thermal_runaway_protection(TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc);
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#if ENABLED(THERMAL_PROTECTION_HOTENDS)
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static TRState thermal_runaway_state_machine[HOTENDS];
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static millis_t thermal_runaway_timer[HOTENDS];
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#endif
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#if HAS_THERMALLY_PROTECTED_BED
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static TRState thermal_runaway_bed_state_machine;
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static millis_t thermal_runaway_bed_timer;
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#endif
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#endif // THERMAL_PROTECTION
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};
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extern Temperature thermalManager;
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#endif // TEMPERATURE_H
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